As a general rule of thumb most OBD II readiness cycles will complete after 30 minutes city stop n go driving along with 30 minutes of highway driving. A cold soak is sometimes required. (Allow engine to cool down completely. At worst case leave it overnight).
There is something causing your evap test to not pass. Usually a leak. I know you said you don't have any fault codes but do you have any pending codes? That could indicate a more specific evap problem.
You will find all kinds of info about drive readiness cycles and most of it is misleading. I've heard everything from 30 minutes of mixed driving to 500 miles and 50 drive cycles(engine starts from cold).
Most manufacturers have similar but different details of the computer algorithms that their readiness tests follow.
I'm sure one of the gurus here has Toyota's test sequence.
I know here in Georgia for a 2001 vehicle you are allowed to have 1 readiness monitor not finished and still be able to get the emissions test. I think a lot of other states are similar. Not sure about Mass.
I'm new to the camry myself. I've been a Jeep man for most of my experience till the price of gas caused me to join the Toyota crowd. And I love my new/old 1995 camry!
Best of luck!
EDIT...... Just found a detailed Toyota bulletin for the drive cycle http://home.comcast.net/~dntsdad//TS..._(revised).pdf